Reconfigurable control of piecewise affine systems with actuator and sensor faults: Stability and tracking

  • Authors:

  • J. H. Richter;W. P. M. H. Heemels;N. van de Wouw;J. Lunze

  • Affiliations:

  • Siemens AG, Industry Sector, Gleiwitzer Str. 555, 90475 Nürnberg, Germany;Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513 5600MB Eindhoven, The Netherlands;Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513 5600MB Eindhoven, The Netherlands;Institute of Automation and Computer Control, Ruhr-Universität Bochum, Universitätsstrasse 150, 44801 Bochum, Germany

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2011

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Abstract

A reconfigurable control approach for continuous-time piecewise affine (PWA) systems subject to actuator and sensor faults is presented. The approach extends the concept of virtual actuators and virtual sensors from linear to PWA systems on the basis of the fault-hiding principle that provides the underlying conceptual idea: the fault is hidden from the nominal controller and the fault effects are compensated. Sufficient linear matrix inequality (LMI) conditions for the existence of virtual actuators and virtual sensors are given that guarantee the recovery of closed-loop stability and the tracking of constant reference inputs. Since LMIs are efficiently solvable, this solution leads to a tractable computational algorithm that solves the reconfiguration problem. The approach is proven to be robust against model uncertainties and inaccurate fault diagnosis, and is evaluated using an example system of interconnected tanks.